Pneumatic control system



March l1, 1952 D. P. EcKMAN PNEUMATIC CONTROL SYSTEM Filed Nov. 14. 1947 FIG.

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INVENTOR DONALD P. ECKMAN ATTORNEY v controlled variable.

Patented Mar. l1, 19542v UNITED STATES PATENT OFFICE PNEUMATIC CONTROL SYSTEM Donald P. Eokman, miao-a, N. Y., assignor, by mesne assignments, to Minneapolis-Honeywell Regulator Company, Minneapolis, Minn., a corporation of Delaware Applioanon November 14, 1947, serial No. 785,989

6 Claims.

The general object of the present invention is to provide an improved air controller characterized by the novel and inherently simple and effective character of its provisions for obtaining proportional, reset and rate responses to a change in the value of the controlled variable. More specifically, the object of the invention is to provide an air controller comprising novel pneumatic means which utilize the compressibility oi air in obtaining proportional, reset and rate responses.

My improved controller' in its preferred form includes two air lled expansible chambers having movable walls mechanically connected so that the expansion of either chamber is attended by the contraction of the other chamber, and includes valve means given follow-up, reset and rate response adjustments by the movements of said movable Walls, and is characterized by the means through which the common movements of said Walls are controlled. In accordance with the present invention, each of said chambers is in restricted communication with the atmosphere, and the connected walls move in response to variations in the resultant of forces due to the air pressures in the two chambers, and due to biasing means which tend to hold said movable walls in predetermined or normal positions. One of said chambers has a second movable wall subjected to an external controlling air pressure which is varied as a result of valve adjustments eiected by means responsive to variations of the The latter may be a temperature, a fluid pressure or other measurable quantity or condition.

The air chamber having the second movable wall may be in restricted communication with the atmosphere through a flow passage of small but constant flow capacity, but the flow capacity of the passage through which the other chamber is in restricted communication with the atmosphere is preferably adjustable, as by means of a suitable throttling valve. When the latter is adjusted to make the last mentioned flow capacity very small, the reset rate is relatively slow and the rate time is relatively long, and the controller is then adapted for use in controlling processes with lags as long as five minutes, or longer. When said throttling valve is adjusted to make the last mentioned flow capacity relatively large, the reset rate is relatively fast and the rate time is relatively short and the controller is adapted for use in controlling processes in which the lags are as short as a few seconds. The adjustment of the valve into intermediate (Cl. IS7-153) positions adapts the controller for use in controllingprocesses with moderate lags intermediate the long and short lags above mentioned.

The various features of novelty Which characterize my invention arepointed out with particularity in the Yclaims annexed to and forminga part of this specification. For a better understanding of the invention, however, its advantages, and specific objects attained with its use, reference shouldbe had to the accompanying drawing and descriptive matter in which I have illustrated and described preferred embodiments of the invention.

Of the drawings:

Fig. l is a somewhat diagrammatic View illustratinga preferred form of the present invention; and 4 y Y Fig. 2 illustrates a modication of a portion of the apparatus shown in Fig. 1.

The air Ycontroller unit illustrated by way of example in Fig. 1, comprises a flapper valve or baffle l., movable toward and away from the orifice end of a nozzle Vl. The latter receives air through a restricted passage 3 from a pipe 4 supplying air at a suitable and substantially constant pressure which ordinarily may be of the orderof seventeen pounds per square inch. The slight movements of the valve rl toward and away from the discharge or bleed orifice in the adjacent end of the nozzle 2 subject the latter to Variable throttling eiects by which the pressure in the nozzlel 2 may ibe varied between a minimum value of a pound or so above the pressure of the atmosphere and a maximum value but little lower than the pressure in the supply pipe 4. The position of4 the-ilapper l relative to the nozzle 2 is jointly controlled by an element 5 given longitudinal movements i-n accordance withA variations in the control variable, and a throttling element 6 in the form of aro'd given movements in the direction of its length as a result of variations in the controlled variable, as is hereinafter explained. As; diagrammatically shown in Fig. l, the Valve I'y is suspended from the pivot 1, and is pivotalhTv connected at apoint 8 intermediate its ends to theVv element 5. Thev latter is a link arranged toV movein a direction generally parallel to the lineof movement of the rod 6 on changes in the valuel ofthe controlled variable.

The variable; nozzle pressure is transmitted by a conduit 9 -from the-nozzle 2 to a pilot valve I0 which receivesaair `fromv the pipe l through a pipe Il.v Thepilot valve l0r4 operates to modify the pressure of t-her air received from the pipe l as required to maintainua pressure in its outlet pipe I2 which is in predetermined proportion with the nozzle pressure transmitted to the pilot valve through the pipe 9. The pilot valve I may be of any usual or suitable type and form, such for example as the type shown in the Moore Patent 2,125,081. The output pressure is transmitted through the pipe I2 from the pilot valve l0 to a fluid pressure actuated regulator I3 which constitutes the nal control element of the apparatus shown in Fig. l. The pilot valve output pressure is also transmitted by the pipe I2 and a branch pipe I2 to a controller chamber I4 having rigid and movable wall portions.

The rigid wall portions of the chamber |4 comprises a cut shaped casing element I5 and the annular outer portion of a plate-like wall I6 which extends across the open end of the casing I5 and is formed with a central operature I6'. The movable wall portion of 'the chamber I4 is shown asformed by a bellows element I1 comprising a corrugated tubular body coaxial with, but smaller in diameter'fthan the casing I6 and surrounded by the latter. One end of said tubular body is connectedt 1'the stationary end wall I6, and itsother end is "connected to and closed by a movable bellows end'wall member I8. A second bellows element I9, similar in form to the bellows element'I1,` but shorter and smaller in diameter than the element I1, and coaxial with the latter, Vis, arranged within the space surrounded by thebllows element I1. The tubular body of the element I9 has one end connected to the casing end Wall I6 and has its other end connected to, and closed by a movable end wall 20.

rIfhe inter-bellowsspace 2| between the bellows elements I1 and"|9 forms an air chamber which is connected to the atmosphere through a flow restriction Vdevice 22` and in which the air pressure equals. exceeds, o'r is less than the pressure of the atmosphere, vdepending on operating conditions. Advantageously, the flow passage through the device 22 communicates with the atmosphere through a filter 23 operative to prevent dirtv from being sucked through the restriction L22 when the pressure in the chamber 2| falls belowV the pressure of the atmosphere. The rod 6 is coaxial with the bellows elements I1 and VI9` and 'hasy one end portion extending through the central opening I6 in the casing wall I6 attached to the movable end wall 20 of the inter-bellows element I9. The opposite end of the rod 6 extends into and is axially disposed in a cup shaped casing 25 surrounding an air chamber 24. The latter has a movable wall comprising a bellows element 21 which may be a counterpart of the bellows element I1. One end of the tubular body of the element 21 is secured to the casing end wall 26. The latter faces and is spaced away from the casing end wall I6, and is formed with a central opening 26' in register with the opening I6 in the wall I6. The second end of the tubular body of the bellows element 21 is connected to a movable end wall 28 and is attached to the adjacent end of the rod 6. The corrugated, tubular bodies of the bellows elements I1, I9 and 21 are ordinarily formed of thin fiexible resilient metal.

The rod 6, and thereby the movable end walls 2| and 28 of the bellows elements I9 and 21 are spring biased to normal, intermediate positions. The bias force may be due wholly or in part to the natural resiliency of the bellows elements I9 and 21, but ordinarily is largely due to the action of bias springs 29 and 3D. As shown, each of the bias springs 29 and 30 is a helical compression spring surrounding the rod 6. 'lhe spring 29 acts between the casing end wall Io' and an abutment 3| carried by the rod 6. As shown, the abutment 3| is in the form of a collar or ange on the rod Ii spaced a short distance away from the bellows end wall 2G. The spring 3D acts between the casing end wall 26 and an abutment collar or flange 32 carried by the rod 6 and spaced away from the bellows end wall 28. The chamber 24 is in communication with the atmosphere through a restricted passage in a regulable restriction device, which ordinarily, and as shown, is a needle valve 33. The needle valve 33 may communicate with the atmosphere through the previously mentioned lter 23.

As shown by way of example in Fig. 1, the controlled variable, which by its variations gives movements to the member 5, is a temperature to which the bulb of a fluid pressure thermometer 35 is subjected. In the arrangement diagrammatically shown in Fig. 1, the thermometer bulb pressure is transmitted by a pipe 36 to the outer stationary end 31 of a spiral Bourdon tube 38. The latter has its movable inner end 39 secured to a pen arm or analogous deflecting element 40 mounted on a supporting pivot 4I adjacent a point at which the Bourdon tube 39 is connected to the element 40. As diagrammatically shown, the defiecting element 40 is generally parallel to the apper I, and the element 5 is a link having one end pivotally connected to the flapper I at the point 8, and having its other end pivotally connected to the deflecting element 40 at the point 42. The temperature measured by the thermometer 35, may well be the temperature of a furnace heated by the combustion of fluid fuel supplied to the furnace at a rate determined by the pilot valve pressure transmitted to the regulator I3, which then serves as the fuel supply valve for the furnace.

n the normal contemplated operation of the particular form of apparatus shown in Fig. 1, a decrease in the temperature to which the thermometer 35 responds, effects a counter-clockwise adjustment of the deflecting element 4|) and thereby eifects a counter-clockwise adjustment of the flapper Valve I. That valve adjustment increases the throttling effect of the valve on the outflow of air through the nozzle 2 and thereby increases the nozzle air pressure. That pressure increase is transmitted by the pipe 9 to the pilot vvalve I0 and correspondingly increases the pilot valve output pressure. The output pressure increase is transmitted to the regulator I3 and gives the latter an opening adjustment which increases the rate at which fuel is supplied by the regulator and thus tends to restore the predetermined or normal value of the furnace temperature measured by the thermometer 35.

The increase in the pilot valve output pressure is also transmitted to the control pressure chamber I4 and thereby partially collapses or shortens the throttling bellows element I1. As the bellows element I1 is thus shortened, the air in the inter-bellows space 2| is compressed and its pressure subjects the inner-bellows element I9 to a slight collapsing action. In consequence, the rod 6 is immediately displaced to the right, and, through the pin 1, immediately gives a slight initial follow-up adjustment to the flapper valve I. That adjustment decreases the throttling effect of the valve and eliminates a small por- 'oi the atmosphere.

follow-up action, and they are further reduced by the subsequent or final follow-up action hereinafter described. The extent of the initial follow-up action is dependent on the volume of the chamber 24, and its magnitude is determined by the increase in the pressure in the chamber 24 required to make the net force acting on the rod 6 and tending to move the latter to the left, equal in magnitude to the net force acting on the left hand of the rod and tending to move the latter to the right. The initial follow-up action raises the pressure in the chamber 24 above the pressure of the atmosphere and thus results in a flow of air past the needle valve 33 out of the chamber 24 and into the atmosphere.

The escape of air from the chamber 24 slightly reduces the pressure in the chamber 24, but is attended by a further slow nal follow-up movement of the rod 6 to the right which keeps the pressure in the chamber 24 above atmospheric pressure until that follow-up movement is completed. That movement continues until the resultant of forces acting on the rod 5 in the direction of its length is equalized. As the rod 5.

moves slowly to the right it progressively displaces the valve I from the nozzle 2, unless its action on the valve is neutralized by a further decrease in the temperature measured by the thermometer 35. The described retardation of ;4

the follow-up is a rate action which permits a temporary opening of the valve I3 of greater average extent than would exist if the follow-up action were not retarded. During the period in which the follow-up movement of the rod ii to l,

va furnace temperature decrease and movement of the element 5 to the right, the rod 6 is at the right of its normal position. In consequence, the bellows elements I9 and 2l and springs 29 and subject the rod G to a resultant vspring bias force tending to move the rod to the left. At the instant at which the follow-up movement terminates, said bias force is balanced by the resultant of the uid pressure forces acting against the movable ends of the bellows elements I9 and 2l. The last mentioned resultant is then diminishing, however, as a result of the expulsion of air from the chamber ZI past the restriction 22, and following the completion of its follow-up movement is given a reset movement to the left. During that reset movement, the volume of the air space in the chamber 2| diminishes and the air Apressure in the chamber 2| remains above the pressure of the atmosphere, while the volume of the air space in the chamber 24 increases and the pressure in that chamber falls below the pressure The reset rate of movement of the rod 6 is thus jointly dependent on the rate at which air is expeued from the chamber 2l past the restriction 22, and on the rate at which at: mospheric air is drawn into the chamber 24 pas the needle valve 33. l v

The foregoing explanation of the follow-Hup and reset actions of the apparatus shown in Fig. l are consistent with theV assumption that Athey follow and result from some change in the fur-- nace load which lowers the furnace temperature maintained with a given rate of fuel supply to the furnace. On that assumption, the eiect-of the reset operation is to progressivelyr increase the throttling action of the valve l on the outlet from the nozzle 2. so that the pilot valve output pressure progressively increases during the rese-t operation. The corresponding increase in the rate at which the regulator I3 supplies fuel, gradually increases the furnace temperature 'and vif the controller and fuel regulator are properly proportioned and calibrated, the furnace temperature will be returned to its normal value during the reset operation, and will remain at its normal value until the furnace temperature is again disturbed by some further change in furnace operating conditions. 1

As those skilled in the art will understand, the normal temperature which the control apparatus tends to maintain is not absolutely constant, but necessarily varies slightly to provide different fuel supply rates under different operating con'- ditions. However, the apparatus shown in Fig. 1 may readily be designed in accordance with the knowledge and practice of the art sov that the total net change in the furnace temperature re quired to eiect the adjustment of the regulating valve I3 from its wide open to its fully closed position will be of the order of 1/2o F.

The maintenance of different rates of fuel supply during respectively different stable operation periods, requires a displacement of the valve I from the nozzle 2 to predeterminable different positions in the different periods. However, the maximum range of valve displacement required to vary the control pressure between its minimum and maximum values, while definite, is quite small. In ordinary practice, it is of the order of from two to four thousandths of an inch. If, for any reason, the furnace temperature is not restored to its normal value during a normal reset operation, the displacement of the valve ,I

`from the nozzle 2 at the end of the operation will fuel at' the rate needed to maintain they normal temperature -under the existing condition of op eration. In such case, one or more subsequent follow-up and reset operation may be necessary to establish and stabilize the control pressure needed.

With stable operating conditions, at the end of the reset operation the air pressure in each of the chambers 2l and 24 will .be equal to the pressure of the atmosphere, and the bias spring action on the rod 6 will hold the latter in,A its normal position. The position of the movable end I8 of the bellows element I'I will then de pend on the extent to which the control pressure in the chamber I4 exceeds the pressure of the atmosphere. The resultant of the forces acting on the bellows' I'I which are due to the pressure in the chamber I4 and to the atmospheric pr'esf sure in the chamber 2 I, will then be balanced by the force with which the resiliency of the bellows element I'I opposes the further contraction or th'atwtht'he Vbeiiows end wan 2s'V substantially larger than the bellows end wall 2ll, the required pressure variations in ,the `chamber 24 are desirably smallerthan are the pressure variations required in the chamber 2l. i

increase of the furnace temperature following a period of stable operation in which said temperature is at its normal value,4 results in control operations which are the converse of those described above as resulting from a kdecrease in said temperature. vThus, during the follow-up action resulting from an increase in the furnace temperature, the rod 6 moves to the left in consequence of the fact that the pressure in the chamber 24, while then below the pressure of the atmosphere, is in excess of that required to make its. thrust against the end wall I8 exceed the thrust of the pressure in the chamber 2| against the smaller bellows end wall 20. The rate time required for the completion of the follow-up action is thus essentially a function of the flow restricting effect of the needle valve 33 which controls the inflow of air into the chamber 24 and thereby controls the pressure maintained in the chamber as the follow-up movementv to the left of the rod 6 is being completed. The reset rate with which the rod 6 thereafter moves toward the right back into its normal position, is a joint function of the flow restricting actions of the restriction device 22 and throttling valve 33. During the reset movement to the right of the rod 6 the pressure in the chamber 2| remains below the pressure ofthe atmosphere, and atmospheric air is slowly drawn into that chamber. During this reset operation, however, the pressure in the chamber 24 exceeds the pressure of the atmosphere, and air is expelled from the chamber through the needle valve 33.

Thus, during the delayed follow-up movement of the rod 6 in either direction, the valve 33 acts as a rate response element and its adjustment determines the rate time of the air controller. However, in the reset action which follows the termination of a follow-up action, the reset rate is a joint function of the flow restricting effects of the restriction 22 and the flow restricting needle valve 33, and may be increased or decreased by adjusting the valve 33 to decrease or increase lts throttling effect. The fact that both the rate time and the reset rate may be adjusted by the adjustment of a single valve, avoids the necessity for simultaneously adjusting separate rate response and reset valves, as has been found desirable in control apparatus containing such separate valves.

With the lapper valve I suspended from the pivot 1 of the follow-up rod 6, as shown in Fig. 1, the magnitude of the follow-up action which results from a given change in the furnace temperature, cannot be adjusted. Such adjustment is desirable in some cases, and may be obtained by the use of provisions through which the ad- Justment of the flapper valve, effected by a given longitudinal movement of the rod 6, may be varied. For example, use may be made of the Well known arrangement for effecting such adjustments, which is shown in Fig. 2. In that figure, the fiapper valve la is suspended from a stationary pivot 50 and is biased by a spring 5I for turning movement toward the bleed nozzle 2. The flapper valve la may be displaced, more or less, from the orifice end of the nozzle 2 by the adjustment of a pin 52. The latter is carried by one arm of a lever 53 which has a second arm connected to a control element a. That element may be actuated in response to variations in a `control quantity, just as ls the element 5 of Fig. 1. The lever 53 is mounted on a movable fulcrum pivot 54 below the pin 52 and carried by theY lower end of the lever 55. The latter is suspended from a. stationary pivot 56 above the pin 52 and above the rod 6. The lever 55 is biased as by a spring 5l for movement in the direction to cause the pin 52 to move the valve la away from the nozzle 2.

The angular position of the lever 55 is maintained in a fixed but adjustable relation with the longitudinal position of the follow-up rod 6 by means comprising a pin 'la carried by the rod 6, a vertically disposed lever 58 and a thrust pin 60. The lower end of the lever 58 is mounted on a stationary pivot pin 59 adjacent the orifice end of the nozzle 2. The lever 58 is alongside the lever 55 and acts on the latter through the thrust pin 6U.- The latter is transverse to the levers y55 and 58 and is vertically adjustable to vary the leverage with which the lever 5B acts on the lever 55. Thus the effect of raising and lowering the pin 6E] is to respectively increase and decrease the horizontal component of the movement given the pin 52 by a given longitudinal adjustmentof the rod 6. In consequence, the raising and lowering of the pin 60 respectively increases and decreases the throttling range of the air controller. As shown, the pin 65 is suspended by a link 6| from a throttling range adjusting lever 62, which mai'r be angularly adjusted about its supporting pivot 63. The throttle range or proportional band adjusting means shown in Fig. 2 are of the general type and form shown in the above-mentioned Moore Patent 2,125,081.

The arrangement of the bellows elements Il, I9 and 2l, shown in Fig. l, contribute to compactness and structural simplicity of the controller unit, and the use of bellows elements Il and 21 of substantially the same diameter along with a bellows element I9 of substantially smaller diameter, facilitates the maintenance of suitably related pressures in the air chambers I4, 2l and 24. The use of air under pressure in effecting reset response has advantages over the customary use of liquid. The use of air avoids the leakage difficulty and difficulties due to the thermal expansion and contraction of liquid, experienced when liquid under pressure is used for reset operations. The use of air as provided for herein also permits proportional, reset and rate responses with apparatus at least as compact and simple as the apparatus including liquid filled chambers heretofore generally used in obtaining proportional and reset responses without obtaining rate responses.

While in accordance with the provisions of the statutes, I have illustrated and described the best forms of embodiment of my invention now known to me, it will be apparent to those skilled in the art that changes may be made in the forms of the apparatus disclosed without departing from the spirit of my invention, as set forth in the appended claims, and that in some cases certain features of my invention may be used to advantage without a corresponding use of other features.

Having now described my invention, what I claim as new and desire to secure by Letters Patent, is:

1. An air controller unit comprising first and second expansible air chambers each having walls including a movable wall biased to a predetermined position and having a restricted passage through which each of said chambers is in restricted communication with the atmosphere, a movable mechanical connection between said movable walls and actuated by the expansion of either chamber to contract the other chamber, said first chamber having a second movable wall, means for maintaining a control pressure comprising a bleed nozzle and a throttling valve movable to vary the pressure in said nozzle, means for subjecting the outer side of said second movable wall of said rst chamber to a force proportional to said control pressure, and valve adjusting means including an element movable in accordance with variations in a, controlled variable and means through which the movements of said mechanical connection give said valve reset adjustments,A and retarded follow-up adjustments whereby said controller unit gives proportional, reset and rate control responses on a variation in the value of said controlled variable.

2. An air controller unit as specified in claim 1, including a flow restricting device adjustable to vary the flow capacity of the restricted passage through which said second chamber is in communication with the atmosphere and thereby regulates the rate time of said controller unit.

3. An air controller unit as specied in claim 1, in which the movable chamber walls connected by said mechanical connection are juxtaposed, and in which said connection is a strut extending between said walls.

4. An air controller unit as specied in claim 1, in which the area of the movable wall of said second chamber is substantially greater than the area of the movable wall of the rst chamber connected to the movable wall of said second chamber by said mechanical connection.

5. An air controller unit as specied in claim 1, in which the area of the movable wall of said second chamber is substantially greater than the area of the movable wall of the rst chamber connected to the movable wall of said second chamber by said mechanical connection, and in which the second movable wall of said rst chamber is of substantially larger area than the other movable wall of that chamber.

6. An air controller unit as specified in claim 1, in which each of said movable walls comprises a corrugated tubular bellows element coaxial with the tubular bellows element of each of the other chambers, and in which the bellows element included in the second movable wall of the rst chamber is larger than, and surrounds the tubular bellows element included in the other movable wall of the first chamber, and including stationary means to which one end of each bellows element is connected, and a separate movable endv wall connected to the second end of each bellows element.

DONALD P. ECKMAN.

REFERENCES CITED The following references are of record in the file of this patent:

n UNITED STATES PATENTS Number Name Date 1,680,750 Smoot Aug. 14, 1928 2,117,800 Harrison May 17, 1938 2,149,390 Donaldson Mar. 7, 1939 

